view org/integration.org @ 308:3f0d49ec0996

verified YouTube uploads
author Robert McIntyre <rlm@mit.edu>
date Sat, 18 Feb 2012 11:18:05 -0700
parents 7e7f8d6d9ec5
children 5d448182c807
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1 #+title: Integration
2 #+author: Robert McIntyre
3 #+email: rlm@mit.edu
4 #+description:
5 #+keywords: simulation, jMonkeyEngine3, clojure
6 #+SETUPFILE: ../../aurellem/org/setup.org
7 #+INCLUDE: ../../aurellem/org/level-0.org
9 * Integration
11 This is the ultimate test which features all of the senses that I've
12 made so far. The blender file for the creature serves as an example of
13 a fully equipped creature in terms of senses. You can find it [[../assets/Models/test-creature/hand.blend][here]].
16 #+begin_html
17 <div class="figure">
18 <video controls="controls" width="755">
19 <source src="../video/hand.ogg" type="video/ogg"
20 preload="none" poster="../images/aurellem-1280x480.png" />
21 </video>
22 <p>Simulated Senses in a Virtual Environment</p>
23 </div>
24 #+end_html
26 * Generating the Video
28 #+name: integration
29 #+begin_src clojure
30 (ns cortex.test.integration
31 "let's play!"
32 {:author "Robert McIntyre"}
33 (:use (cortex world util body sense
34 hearing touch vision proprioception movement))
35 (:import (com.jme3.math ColorRGBA Vector3f))
36 (:import java.io.File)
37 (:import com.jme3.audio.AudioNode)
38 (:import com.aurellem.capture.RatchetTimer))
40 (dorun (cortex.import/mega-import-jme3))
41 (rlm.rlm-commands/help)
43 (def hand "Models/test-creature/hand.blend")
45 (def output-base (File. "/home/r/proj/cortex/render/hand"))
46 #+end_src
48 For this demonstration I have to manually drive the muscles of the
49 hand. I do this by creating a little mini-language to describe
50 simulated muscle contraction.
52 #+name: integration-2
53 #+begin_src clojure
54 (defn motor-control-program
55 "Create a function which will execute the motor script"
56 [muscle-positions
57 script]
58 (let [current-frame (atom -1)
59 keyed-script (group-by first script)
60 current-forces (atom {}) ]
61 (fn [effectors]
62 (let [indexed-effectors (vec effectors)]
63 (dorun
64 (for [[_ part force] (keyed-script (swap! current-frame inc))]
65 (swap! current-forces (fn [m] (assoc m part force)))))
66 (doall (map (fn [effector power]
67 (effector (int power)))
68 effectors
69 (map #(@current-forces % 0) muscle-positions)))))))
71 (def muscle-positions
72 [:pointer-2-e
73 :pointer-2-f
74 :thumb-1
75 :thumb-1
76 :pointer-1-e
77 :pointer-1-f
78 :thumb-2-e
79 :thumb-2-f
80 :middle-1-e
81 :middle-1-f
82 :pointer-3-f
83 :pointer-3-e
84 :middle-2-e
85 :middle-2-f
86 :middle-3-f
87 :middle-3-e
88 :pinky-2-e
89 :pinky-2-f
90 :pinky-3-f
91 :pinky-3-e
92 :ring-3-e
93 :ring-3-f
94 :ring-2-f
95 :ring-2-e
96 :ring-1-e
97 :ring-1-f
98 :thumb-1-e
99 :thumb-1-f
100 :pinky-1-f
101 :pinky-1-e])
103 (def full 9001)
106 ;; Choreography:
108 ;; Let the hand fall palm-up
110 ;; it curls its phalanges, starting with the pinky.
112 ;; it lets its phalanges fall back down.
114 ;; block falls down onto the hand, accompanied by a sound. The block
115 ;; can be seen by the hand's eye.
117 ;; hand FORCEFULLY catapults the block so that it hits the camera.
120 ;; the syntax here is [keyframe body-part force]
121 (def move-fingers
122 [[300 :pinky-3-f 50]
123 [320 :pinky-2-f 80]
124 [340 :pinky-1-f 100]
126 [310 :ring-3-f 100]
127 [330 :ring-2-f 120]
128 [350 :ring-1-f 140]
130 [330 :middle-3-f 120]
131 [340 :middle-2-f 120]
132 [360 :middle-1-f 30]
134 [350 :pointer-3-f 120]
135 [360 :pointer-2-f 120]
136 [380 :pointer-1-f 30]
138 [800 :pinky-3-f 0]
139 [800 :pinky-2-f 0]
140 [800 :pinky-1-f 0]
142 [800 :ring-3-f 0]
143 [800 :ring-2-f 0]
144 [800 :ring-1-f 0]
146 [800 :middle-3-f 0]
147 [800 :middle-2-f 0]
148 [800 :middle-1-f 0]
150 [800 :pointer-3-f 0]
151 [800 :pointer-2-f 0]
152 [800 :pointer-1-f 0]
155 [800 :pinky-3-e 50]
156 [800 :pinky-2-e 80]
157 [800 :pinky-1-e 100]
159 [800 :ring-3-e 100]
160 [800 :ring-2-e 120]
161 [800 :ring-1-e 140]
163 [800 :middle-3-e 120]
164 [800 :middle-2-e 120]
165 [800 :middle-1-e 30]
167 [800 :pointer-3-e 120]
168 [800 :pointer-2-e 120]
169 [800 :pointer-1-e 30]
171 [870 :pinky-3-e 0]
172 [870 :pinky-2-e 0]
173 [870 :pinky-1-e 0]
175 [870 :ring-3-e 0]
176 [870 :ring-2-e 0]
177 [870 :ring-1-e 0]
179 [870 :middle-3-e 0]
180 [870 :middle-2-e 0]
181 [870 :middle-1-e 0]
183 [870 :pointer-3-e 0]
184 [870 :pointer-2-e 0]
185 [870 :pointer-1-e 0]
187 [1500 :pointer-1-f full]
188 [1500 :pointer-2-f full]
189 [1500 :pointer-3-f full]
191 [1500 :middle-1-f full]
192 [1500 :middle-2-f full]
193 [1500 :middle-3-f full]
195 [1510 :pointer-1-f 0]
196 [1510 :pointer-2-f 0]
197 [1510 :pointer-3-f 0]
199 [1510 :middle-1-f 0]
200 [1510 :middle-2-f 0]
201 [1510 :middle-3-f 0]
202 ])
204 (defn gen-summon-ball [debug?]
205 (let [wait (atom 1100)]
206 (fn [world]
207 (if (= 0 (swap! wait dec))
208 (let [brick
209 (box 0.8 0.8 0.8 :mass 0.05
210 :position (Vector3f. -0.5 0 0.5)
211 :color (ColorRGBA/Red))
212 bell (AudioNode. (asset-manager)
213 "Sounds/pure.wav" false)]
214 (.play bell)
215 (if debug?
216 (.addControl
217 brick
218 (proxy [AbstractControl] []
219 (controlUpdate [tpf]
220 (println-repl (.getWorldTranslation brick)))
221 (controlRender [_ _]))))
222 (add-element world brick))))))
224 (import com.aurellem.capture.Capture)
226 (defn test-everything!
227 ([] (test-everything! false))
228 ([record?]
229 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
231 base (File. "/home/r/proj/cortex/render/hand")
234 creature (doto (load-blender-model hand)
235 (body!))
237 summon-ball (gen-summon-ball false)
238 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
239 touch (touch! creature)
240 touch-display (view-touch)
242 vision (vision! creature)
243 vision-display (view-vision)
245 hearing (hearing! creature)
246 hearing-display (view-hearing)
248 prop (proprioception! creature)
249 prop-display (view-proprioception)
251 control-script (motor-control-program
252 muscle-positions move-fingers)
253 muscles (movement! creature)
254 muscle-display (view-movement)
255 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
257 fix-display (gen-fix-display)]
258 (world
259 (nodify [creature
260 (box 10 2 10 :position (Vector3f. 0 -9 0)
261 :color ColorRGBA/Gray :mass 0)
262 me])
263 standard-debug-controls
265 (fn [world]
266 (.setTimer world (RatchetTimer. 60))
267 (position-camera
268 world (Vector3f. -0.13217318, 5.816415, -5.3089414)
269 (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))
271 (light-up-everything world)
272 (enable-debug world)
273 (add-camera! world
274 (add-eye! creature
275 (.getChild
276 (.getChild creature "eyes") "eye"))
277 (comp (view-image) BufferedImage!))
279 (if record?
280 (Capture/captureVideo
281 world (File. base "main")))
282 (if record?
283 (Capture/captureAudio
284 world (File. base "main.wav"))))
285 (fn [world tpf]
286 (prop-display
287 (prop)
288 (if record? (File. base "proprio")))
289 (touch-display
290 (map #(% (.getRootNode world)) touch)
291 (if record? (File. base "touch")))
292 (vision-display
293 (map #(% world) vision)
294 (if record? (File. base "vision")))
295 (hearing-display
296 (map #(% world) hearing)
297 (if record? (File. base "hearing")))
298 (muscle-display
299 (control-script muscles)
300 (if record? (File. base "muscle")))
302 (summon-ball world)
304 (.setLocalTranslation me (.getLocation (.getCamera world)))
305 (fix-display world))))))
306 #+end_src
308 ** ImageMagick / ffmpeg
310 Just a bunch of calls to imagemagick to arrange the data that
311 =test-everything!= produces.
313 #+name: magick-8
314 #+begin_src clojure
315 (ns cortex.video.magick8
316 (:import java.io.File)
317 (:use clojure.contrib.shell-out))
319 (comment
320 ;; list of touch targets
321 0 middle-11
322 1 middle-21
323 2 middle-31
324 3 pinky-11
325 4 pinky-21
326 5 pinky-31
327 6 pointer-11
328 7 pointer-21
329 8 pointer-31
330 9 ring-11
331 10 ring-21
332 11 ring-31
333 12 thumb-11
334 13 thumb-2.0011
337 ;; list of vision targets
338 0 :all
339 1 :green
340 2 :blue
341 3 :red
343 ;; list of proprio targets
344 0 middle-11 -> middle-21
345 1 middle-21 -> middle-31
346 2 thumb-11 -> thumb-2.0011
347 3 pointer-11 -> pointer-21
348 4 pointer-21 -> pointer-31
349 5 ring-21 -> ring-31
350 6 ring-11 -> ring-21
351 7 pinky-21 -> pinky-31
352 8 pinky-11 -> pinky-21
353 9 middle-11 -> palm1
354 10 pinky-11 -> palm1
355 11 palm1 -> pointer-11
356 12 palm1 -> ring-11
357 13 palm1 -> thumb-11
360 ;; list of muscle targets
361 0 :pointer-2-e
362 1 :pointer-2-f
363 2 :thumb-1
364 3 :thumb-1
365 4 :pointer-1-e
366 5 :pointer-1-f
367 6 :thumb-2-e
368 7 :thumb-2-f
369 8 :middle-1-e
370 9 :middle-1-f
371 10 :pointer-3-f
372 11 :pointer-3-e
373 12 :middle-2-e
374 13 :middle-2-f
375 14 :middle-3-f
376 15 :middle-3-e
377 16 :pinky-2-e
378 17 :pinky-2-f
379 18 :pinky-3-f
380 19 :pinky-3-e
381 20 :ring-3-e
382 21 :ring-3-f
383 22 :ring-2-f
384 23 :ring-2-e
385 24 :ring-1-e
386 25 :ring-1-f
387 26 :thumb-1-e
388 27 :thumb-1-f
389 28 :pinky-1-f
390 29 :pinky-1-e
391 )
393 (def base (File. "/home/r/proj/cortex/render/hand"))
395 (defn prepare-muscle [muscle]
396 ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])
398 (defn prepare-touch [touch]
399 ["(" touch "-rotate" "180" ")"])
401 (defn generate-top-finger [tip-flexor tip-extensor tip
402 joint-2-3
403 mid-flexor mid-extensor mid
404 joint-1-2]
405 ["("
406 "-size" "113x357" "xc:transparent"
407 (prepare-muscle tip-flexor) "-geometry" "+0+7" "-composite"
408 (prepare-muscle tip-extensor) "-geometry" "+98+7" "-composite"
409 (prepare-touch tip) "-geometry" "+18+0" "-composite"
411 joint-2-3 "-geometry" "+32+79" "-composite"
413 (prepare-muscle mid-flexor) "-geometry" "+19+131" "-composite"
414 (prepare-muscle mid-extensor) "-geometry" "+80+131" "-composite"
415 (prepare-touch mid) "-geometry" "+39+133" "-composite"
417 joint-1-2 "-geometry" "+32+193" "-composite"
418 ")"])
420 (defn file-names [#^File dir]
421 (map #(.getCanonicalPath %) (next (sort (file-seq dir)))))
423 (defn file-groups [& paths]
424 (apply (partial map list )
425 (map (comp file-names #(File. base %))
426 paths)))
428 (defn pinky []
429 (file-groups
430 "muscle/18"
431 "muscle/19"
432 "touch/5"
433 "proprio/7"
435 "muscle/17"
436 "muscle/16"
437 "touch/4"
438 "proprio/8"
440 "muscle/28"
441 "muscle/29"
442 "touch/3"
443 "proprio/10"))
445 (defn ring []
446 (file-groups
447 "muscle/21"
448 "muscle/20"
449 "touch/11"
450 "proprio/5"
452 "muscle/22"
453 "muscle/23"
454 "touch/10"
455 "proprio/6"
457 "muscle/25"
458 "muscle/24"
459 "touch/9"
460 "proprio/12"))
462 (defn middle []
463 (file-groups
464 "muscle/14"
465 "muscle/15"
466 "touch/2"
467 "proprio/1"
469 "muscle/13"
470 "muscle/12"
471 "touch/1"
472 "proprio/0"
474 "muscle/9"
475 "muscle/8"
476 "touch/0"
477 "proprio/9"))
479 (defn pointer []
480 (file-groups
481 "muscle/10"
482 "muscle/11"
483 "touch/8"
484 "proprio/4"
486 "muscle/1"
487 "muscle/0"
488 "touch/7"
489 "proprio/3"
491 "muscle/5"
492 "muscle/4"
493 "touch/6"
494 "proprio/11"))
496 (defn thumb []
497 (file-groups
498 "muscle/7"
499 "muscle/6"
500 "touch/13"
501 "proprio/2"
503 "muscle/27"
504 "muscle/26"
505 "muscle/3"
506 "muscle/2"
507 "touch/12"
508 "proprio/13"))
510 (defn generate-finger
511 [tip-flexor tip-extensor tip
512 joint-2-3
513 mid-flexor mid-extensor mid
514 joint-1-2
515 base-flexor base-extensor base
516 joint-palm-1]
517 ["("
518 "-size" "113x357" "xc:transparent"
519 (generate-top-finger
520 tip-flexor tip-extensor tip
521 joint-2-3
522 mid-flexor mid-extensor mid
523 joint-1-2) "-geometry" "+0+0" "-composite"
524 (prepare-muscle base-flexor) "-geometry" "+19+245" "-composite"
525 (prepare-muscle base-extensor) "-geometry" "+80+245" "-composite"
526 (prepare-touch base) "-geometry" "+39+247" "-composite"
527 joint-palm-1 "-geometry" "+32+307" "-composite"
528 ")"])
530 (defn generate-thumb
531 [tip-flexor tip-extensor tip
532 joint-1-2
533 mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid
534 joint-palm-1]
535 ["("
536 "-size" "113x357" "xc:transparent"
537 (generate-top-finger
538 tip-flexor tip-extensor tip
539 joint-1-2
540 mid-flexor mid-extensor mid
541 joint-palm-1) "-geometry" "+0+0" "-composite"
542 (prepare-muscle mid-flexor-2) "-geometry" "+2+131" "-composite"
543 (prepare-muscle mid-extensor-2) "-geometry" "+100+131" "-composite"
544 ")"])
546 (defn generate-hand
547 [pinky-pieces
548 ring-pieces
549 middle-pieces
550 pointer-pieces
551 thumb-pieces]
552 ["("
553 "-size" "688x769" "xc:transparent"
554 (apply generate-finger pinky-pieces)
555 "-geometry" "+0+195" "-composite"
556 (apply generate-finger ring-pieces)
557 "-geometry" "+111+100" "-composite"
558 (apply generate-finger middle-pieces)
559 "-geometry" "+228+0" "-composite"
560 "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"
561 "-rotate" "45" ")"
562 "-geometry" "+300+420" "-composite"
563 (apply generate-finger pointer-pieces)
564 "-geometry" "+350+96" "-composite"
565 ")"])
567 (defn generate-vision
568 [all green blue red]
569 ["("
570 "-size" "204x192" "xc:transparent"
571 all "-geometry" "+0+0" "-composite"
572 green "-geometry" "+113+0" "-composite"
573 blue "-geometry" "+0+105" "-composite"
574 red "-geometry" "+113+105" "-composite"
575 ")"])
577 (def test-muscle (File. base "muscle/0/0000000.png"))
578 (def test-proprio (File. base "proprio/0/0000000.png"))
579 (def test-tip (File. base "touch/2/0000000.png"))
580 (def test-mid (File. base "touch/0/0000000.png"))
581 (def test-vision (File. base "vision/0/0000000.png"))
582 (def test-hearing (File. base "hearing/0/0000000.png"))
583 (def test-main (File. base "main/0000000.png"))
585 (def test-target (File. base "output.png"))
587 (def background (File. base "background.png"))
589 (use 'clojure.contrib.shell-out)
591 (defn vision []
592 (file-groups
593 "vision/0"
594 "vision/1"
595 "vision/2"
596 "vision/3"))
598 (defn hearing []
599 (file-names (File. base "hearing/0")))
601 (defn main []
602 (file-names (File. base "main")))
604 (defn targets [dest max]
605 (map
606 (comp #(.getCanonicalPath %)
607 #(File. (str base dest (format "%07d.png" %))))
608 (range max)))
611 (defn final-image [main [all red green blue] hearing
612 pinky ring middle pointer thumb target]
613 (println target)
614 (apply
615 sh
616 (flatten
617 ["convert"
618 (.getCanonicalPath background)
620 (generate-hand pinky ring middle pointer thumb)
621 "-geometry" "+809+22" "-composite"
623 (generate-vision all red green blue)
624 "-geometry" "+974+599" "-composite"
626 hearing
627 "-geometry" "+784+819" "-composite"
629 main
630 "-geometry" "+78+202" "-composite"
632 target])))
634 (defn combine-files []
635 (dorun
636 (pmap final-image
637 (main)
638 (vision)
639 (hearing)
640 (pinky)
641 (ring)
642 (middle)
643 (pointer)
644 (thumb)
645 (targets "/out/" (count (main))))))
647 (defn subtitles []
648 (file-names (File. base "subs")))
650 (defn outs []
651 (file-names (File. base "out")))
654 (defn mix-subtitles []
655 (let [subs (subtitles)
656 targets (targets "/out-subs/" (count subs))
657 overlay (.getCanonicalPath (File. base "output.png"))]
658 (dorun
659 (pmap
660 (fn [sub target]
661 (sh
662 "convert"
663 overlay
664 sub "-geometry" "+0+0" "-composite"
665 target))
666 subs targets))))
668 (defn out-subtitles []
669 (file-names (File. base "out-subs")))
672 (defn insert-subtitles []
673 (let [subtitles (out-subtitles)
674 outs (outs)
675 targets (targets
676 "/final/"
677 (+ (count outs) (count subtitles)))]
678 (dorun
679 (pmap
680 #(sh "cp" %1 %2)
681 (concat subtitles outs) targets))))
683 (defn generate-final []
684 (combine-files)
685 (mix-subtitles)
686 (insert-subtitles))
687 #+end_src
689 #+begin_src sh :results silent
690 cd /home/r/proj/cortex/render/hand
692 sox --ignore-length main.wav main-delayed.wav delay 24
694 mogrify -resize 755x final/*
696 ffmpeg -r 60 -i final/%07d.png -i main-delayed.wav -b:a 128k \
697 -b:v 9000k -c:a libvorbis -c:v libtheora hand.ogg
698 #+end_src
701 * Source Listing
702 - [[../src/cortex/test/integration.clj][cortex.test.integration]]
703 - [[../src/cortex/video/magick8.clj][cortex.video.magick8]]
704 - [[../assets/Models/subtitles/hand.blend][subtitles/hand.blend]]
705 #+html: <ul> <li> <a href="../org/integration.org">This org file</a> </li> </ul>
706 - [[http://hg.bortreb.com ][source-repository]]
709 * COMMENT purgatory
710 #+begin_src clojure
711 (defn bullet-trans* []
712 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
713 :position (Vector3f. 5 0 0)
714 :mass 90)
715 obj-b (sphere 0.5 :color ColorRGBA/Blue
716 :position (Vector3f. -5 0 0)
717 :mass 0)
718 control-a (.getControl obj-a RigidBodyControl)
719 control-b (.getControl obj-b RigidBodyControl)
720 move-up? (atom nil)
721 move-down? (atom nil)
722 move-left? (atom nil)
723 move-right? (atom nil)
724 roll-left? (atom nil)
725 roll-right? (atom nil)
726 force 100
727 swivel
728 (.toRotationMatrix
729 (doto (Quaternion.)
730 (.fromAngleAxis (/ Math/PI 2)
731 Vector3f/UNIT_X)))
732 x-move
733 (doto (Matrix3f.)
734 (.fromStartEndVectors Vector3f/UNIT_X
735 (.normalize (Vector3f. 1 1 0))))
737 timer (atom 0)]
738 (doto
739 (ConeJoint.
740 control-a control-b
741 (Vector3f. -8 0 0)
742 (Vector3f. 2 0 0)
743 ;;swivel swivel
744 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
745 x-move Matrix3f/IDENTITY
746 )
747 (.setCollisionBetweenLinkedBodys false)
748 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
749 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
750 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
751 (world (nodify
752 [obj-a obj-b])
753 (merge standard-debug-controls
754 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
755 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
756 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
757 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
758 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
759 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
761 (fn [world]
762 (enable-debug world)
763 (set-gravity world Vector3f/ZERO)
764 )
766 (fn [world _]
768 (if @move-up?
769 (.applyForce control-a
770 (Vector3f. force 0 0)
771 (Vector3f. 0 0 0)))
772 (if @move-down?
773 (.applyForce control-a
774 (Vector3f. (- force) 0 0)
775 (Vector3f. 0 0 0)))
776 (if @move-left?
777 (.applyForce control-a
778 (Vector3f. 0 force 0)
779 (Vector3f. 0 0 0)))
780 (if @move-right?
781 (.applyForce control-a
782 (Vector3f. 0 (- force) 0)
783 (Vector3f. 0 0 0)))
785 (if @roll-left?
786 (.applyForce control-a
787 (Vector3f. 0 0 force)
788 (Vector3f. 0 0 0)))
789 (if @roll-right?
790 (.applyForce control-a
791 (Vector3f. 0 0 (- force))
792 (Vector3f. 0 0 0)))
794 (if (zero? (rem (swap! timer inc) 100))
795 (.attachChild
796 (.getRootNode world)
797 (sphere 0.05 :color ColorRGBA/Yellow
798 :physical? false :position
799 (.getWorldTranslation obj-a)))))
800 )
801 ))
803 (defn test-joint [joint]
804 (let [[origin top bottom floor] (world-setup joint)
805 control (.getControl top RigidBodyControl)
806 move-up? (atom false)
807 move-down? (atom false)
808 move-left? (atom false)
809 move-right? (atom false)
810 roll-left? (atom false)
811 roll-right? (atom false)
812 timer (atom 0)]
814 (world
815 (nodify [top bottom floor origin])
816 (merge standard-debug-controls
817 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
818 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
819 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
820 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
821 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
822 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
824 (fn [world]
825 (light-up-everything world)
826 (enable-debug world)
827 (set-gravity world (Vector3f. 0 0 0))
828 )
830 (fn [world _]
831 (if (zero? (rem (swap! timer inc) 100))
832 (do
833 ;; (println-repl @timer)
834 (.attachChild (.getRootNode world)
835 (sphere 0.05 :color ColorRGBA/Yellow
836 :position (.getWorldTranslation top)
837 :physical? false))
838 (.attachChild (.getRootNode world)
839 (sphere 0.05 :color ColorRGBA/LightGray
840 :position (.getWorldTranslation bottom)
841 :physical? false))))
843 (if @move-up?
844 (.applyTorque control
845 (.mult (.getPhysicsRotation control)
846 (Vector3f. 0 0 10))))
847 (if @move-down?
848 (.applyTorque control
849 (.mult (.getPhysicsRotation control)
850 (Vector3f. 0 0 -10))))
851 (if @move-left?
852 (.applyTorque control
853 (.mult (.getPhysicsRotation control)
854 (Vector3f. 0 10 0))))
855 (if @move-right?
856 (.applyTorque control
857 (.mult (.getPhysicsRotation control)
858 (Vector3f. 0 -10 0))))
859 (if @roll-left?
860 (.applyTorque control
861 (.mult (.getPhysicsRotation control)
862 (Vector3f. -1 0 0))))
863 (if @roll-right?
864 (.applyTorque control
865 (.mult (.getPhysicsRotation control)
866 (Vector3f. 1 0 0))))))))
867 #+end_src
871 * COMMENT generate source
872 #+begin_src clojure :tangle ../src/cortex/test/integration.clj
873 <<integration>>
874 <<integration-2>>
875 #+end_src
877 #+begin_src clojure :tangle ../src/cortex/video/magick8.clj
878 <<magick-8>>
879 #+end_src